He wants me to initiate sex but I have literally no chance - Advice??

My boyfriend and I have been together 3 years and are only together on weekends. A few weekends ago, he told me he gets upset that i don’t initiate as much as he does and he feels like I only have sex with him because he wants it. I did/still do feel bad. I have tried to but it’s impossible to do when he seriously ALWAYS has his hands all over me. (Not that I’m complaining lol). The first thing he does when he comes over is hugs me and then purposely tortures me. He wakes up with a hard-on. We’ll go to bed and as soon as we go up, or sometimes even before, he’ll say “hey do you want it before I fall asleep?”. I tried to explain that I feel I don’t have a chance and he said I just have to try to beat him to it 😐 I feel like that defeats the point though. You want me to initiate when I want it but then tell me the only way I can really do it is if I do it when I think you will? What? 🤦🏼‍♀️